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#include <memory>
#include <string>

#include "rviz_visual_testing_framework/visual_test_fixture.hpp"
#include "rviz_visual_testing_framework/visual_test_publisher.hpp"

#include "../../page_objects/odometry_display_page_object.hpp"
#include "../../publishers/odometry_publisher.hpp"

TEST_F(VisualTestFixture, test_odometry_display) {
  auto odometry = std::make_shared<nodes::OdometryPublisher>();
  odometry->initialize();  // necessary due to missing transform_broadcaster constructor
  auto odometry_publisher = std::make_unique<VisualTestPublisher>(odometry, "odometry_frame");

  setCamPose(Ogre::Vector3(2, 2, 16));
  setCamLookAt(Ogre::Vector3(2, 2, 0));

  auto odometry_display = addDisplay<OdometryDisplayPageObject>();
  odometry_display->setTopic("/odometry");
  odometry_display->setCovarianceOrientationColorStyle("RGB");
  odometry_display->setCovarianceOrientationAlpha(1);
  odometry_display->setCovarianceOrientationScale(5);

  odometry_display->setArrowColor(100, 0, 255);
  odometry_display->setArrowAlpha(1);
  odometry_display->setArrowShaftLength(5);
  odometry_display->setArrowShaftRadius(2);
  odometry_display->setArrowHeadLength(3);
  odometry_display->setArrowHeadRadius(3);
  odometry_display->setCovariance(false);

  captureMainWindow("odometry_arrow");

  odometry_display->setShape("Axes");
  odometry_display->setAxesLength(7);
  odometry_display->setAxesRadius(3);

  captureMainWindow("odometry_axes");

  odometry_display->setShape("Arrow");
  odometry_display->setArrowAlpha(0);
  odometry_display->setCovariance(true);

  captureMainWindow("odometry_covariance_orientation");

  odometry_display->setCovarianceOrientation(false);
  odometry_display->setCovariancePositionScale(5);
  odometry_display->setCovariancePositionAlpha(1);

  captureMainWindow("odometry_covariance_position");

  assertScreenShotsIdentity();
}
